Robotic camera system

ABSTRACT

A robot for capturing image frames of subjects in response to a request includes a base, a robot head, a camera, a vertical positioning mechanism, and a control system. The base has a transport mechanism for controllably positioning the robot along a lateral surface. The vertical positioning mechanism couples the robot head to the base and adjusts a vertical distance between the robot head and the support surface. The control system controls image capture of the camera, the transport mechanism, and the vertical positioning mechanism.

RELATED APPLICATIONS

This non-provisional patent application is a continuation-in-part ofU.S. application Ser. No. 15/797,819, entitled “Robotic Camera System”by Marius Buibas et al., filed on Oct. 30, 2017 which claims priority toU.S. Provisional Application Ser. No. 62/418,719, Entitled “RoboticCamera System” by Marius O. Buibas et al., filed on Nov. 7, 2016,incorporated herein by reference under the benefit of 35 U.S.C. 119(e).The application Ser. No. 15/797,819 is also a continuation-in-part ofU.S. application Ser. No. 15/226,760, entitled “Robotic Camera System”by Marius O. Buibas et al., filed on Aug. 2, 2016 which claims priorityto provisional Application No. 62/210,902, Entitled “Robotic CameraSystem” by Marius O. Buibas et al., filed on Aug. 27, 2015, incorporatedherein by reference under the benefit of 35 U.S.C. 119(e).

FIELD OF THE INVENTION

The present disclosure concerns a robotic camera system enabling a userto obtain very high quality still and video images. In particular, therobotic camera system provides a convenient way to capture images of theuser with or without companions.

BACKGROUND

Users typically capture still frame images and videos when visitingvenues such as landmarks, theme parks, zoos, and stadiums or at specialevents such as birthday parties or other celebrations. Typically theuser brings an owned camera to capture images. This can be inconvenientwhen the user wants self-portraits and wants to include all companionsin an image frame. SLR (single lens reflex) cameras with good lenses canbe bulky and smartphone cameras are compromised on quality. There is adesire to capture high quality images with more convenience at suchvenues. There is also a desire to reduce the burden of high qualitypicture and video capture for a user.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1A is a first schematic representation of a robotic camera systemwith emphasis on the structure of a camera robot.

FIG. 1B is a second schematic representation of a robotic camera systemwith emphasis on a robot computer interfacing with servers and a usermobile device.

FIG. 2A is an isometric representation of a first exemplary embodimentof a camera robot for capturing image frames.

FIG. 2B is a front view of a first exemplary embodiment of a camerarobot for capturing image frames.

FIG. 2C is a side view of a first exemplary embodiment of a camera robotfor capturing image frames.

FIG. 3A is an isometric view of a first embodiment of a robot head thatsupports a camera system.

FIG. 3B is an isometric view of a second embodiment of a robot head thatsupports a camera system.

FIG. 3C is an isometric view of a third embodiment of a robot head thatsupports a camera system.

FIG. 3D is an isometric view of a fourth embodiment of a robot head thatsupports a camera system.

FIG. 4 is a simplified electrical block diagram of an exemplaryembodiment of a camera robot for capturing image frames.

FIG. 5 is a flowchart representation of an exemplary method whereby acamera robot can maintain a defined distance from a user who is walkingthrough a venue.

FIG. 6A is a flowchart representation of a first exemplary methodwhereby a camera robot can maintain a defined distance from a user andthe user can execute a photo session.

FIG. 6B is a flowchart representation of a second exemplary methodwhereby a camera robot can maintain a defined distance from a user andthe user can execute a photo session.

FIG. 7 is a flowchart representation of an exemplary method whereby auser gains an authorization to utilize a camera robot.

FIG. 8 is a flowchart representation of an exemplary method by which auser utilizes a social media website to start a photo session withand/or utilize a camera robot.

FIG. 9 is a flowchart representation of an exemplary method by which auser utilizes a designated application on a mobile device to start aphoto session with and/or utilize a camera robot.

SUMMARY

This disclosure concerns the construction, electronics, control, and useof a robotic camera system including a camera robot for capturing imagesof subjects in various venues. Reference to “subjects” includes humansas well as animals such as pets, wildlife, and zoo animals. The venuescan include commercial establishments such as theme parks, zoos, arenas,convention centers, retail stores, arcades, and restaurants to name afew examples. The venues can also include personal homes and landmarksand are only limited by the configuration and capabilities of therobotic camera system.

The robotic camera system includes a camera robot that is in wirelesscommunication with a robot cloud server through a cloud network such asthe Internet. A user having a mobile device desires to utilize aparticular camera robot. The user mobile device may wirelesslycommunicate with the camera robot either directly or indirectly, throughthe cloud network. User interaction with the camera robot may be toinitiate a photo session and sometimes to have the camera robot followthe user through a venue. In some embodiments the user initiates theinteraction through a social media website. In some embodiments the userinitiates the interaction by utilizing a designated application thatruns upon the user's mobile device. In some embodiments the userinitiates the interaction with the use of a two-dimensionalmachine-readable code element that is provided to the user from therobot cloud server.

The robotic camera system includes a processor coupled to anon-transient storage medium. More particularly, each of the camerarobot, the robot cloud server, and the user mobile device include aprocessor coupled to a non-transient storage medium. For each of these,the non-transient storage medium stores instructions. When theseinstructions are executed by the processor, certain methods areperformed. The following disclosure describes a number of methods thatcan be performed by one or more of these processors operating separatelyand/or in combination. Also, the robotic camera system includes one ormore databases for storing and relating information such as camera robotcommunication addresses, camera robot identification information (suchas images of each camera robot and associated metadata), two-dimensionalimage elements (e.g., a two-dimensional barcode, an icon, or otherfeatures), passwords, and other related information elements.

In one aspect of the disclosure, a camera robot for capturing imageframes in response to a request includes: (1) a base having a transportmechanism that controllably imparts motion along a support surface, (2)a robot head, (3) a camera mounted to the robot head and having a cameraaxis CA, (4) a vertical positioning mechanism that couples the robothead to the base and controllably adjusts a distance between the robothead and the base, and (5) a control system including a processor and anon-transient medium storing computer readable instructions forreceiving the request and performing a photo session in response. AZ-axis is centrally defined along the vertical positioning mechanismbetween the base and the robot head and is coincident with or defines anacute angle with a vertical direction of gravitation. A lateral Y axisis defined normal to the Z-axis and is coincident with or defines anacute angle with the camera axis CA. A lateral X axis is defined normalto the Y and Z axes.

In one implementation the base includes three “omni-directional” wheelsthat are coupled to wheel motors and encoders. The axes of rotation ofthe three wheels are uniformly distributed in the XY plane, 120 degreesapart. Passive rollers embedded in each wheel allow free translation inthe direction of the axis of rotation. The wheels can thereby rotate thecamera robot about the Z-axis and translate the robot in any lateraldirection across the support surface.

In another implementation the camera is a camera system including one ormore of a 360 degree camera system, a three-dimensional (3D) camerasystem, an SLR (single-lens reflex) camera system, or a mirrorlessinterchangeable lens camera system. A 360 degree camera system caninclude more than one camera including forward facing (+Y direction) andbackward (−Y direction) cameras as well as cameras facing at multiplelateral angles. More cameras facing different directions minimizes adegree that the base needs to rotate about Z to provide full 360 degreecoverage. A 3D camera system has more than one camera facing in aparticular direction having a lateral separation that is normal to thedirection that they are facing. For example, two cameras facing forward(+Y) that are separated in X will provide an added dimension. An SLR ormirrorless camera system can include camera motion within the robot headincluding an ability to tilt about the X axis. The SLR or mirrorlesscamera system may also include camera rotations about the Y and/or Zaxis. The camera system is advantageously used both to perceive theenvironment and users as well as to capture image frames. This is apreferred embodiment as opposed to having two separate camera systems(which increases cost and complexity) to handle these tasks separately.

In a further implementation the vertical positioning mechanism includesa scissor mechanism. The scissor mechanism has a link drive mechanismthat is mounted proximate to the base of the camera robot. Extendingupwardly (+Z) from the link drive mechanism is an assemblage of scissorlinks that are actuated by the link drive mechanism. In a loweredconfiguration the scissor links are nearly horizontal. As the link drivemechanism rotates the scissor links away from the nearly horizontalorientation to a more vertical orientation, the scissor mechanismdimension along axis Z increases thereby raising the robot head relativeto the base. This increases a value of h which is a distance between therobot head and the base and a value of H which is a distance of thecamera axis CA above the support surface. The scissor mechanism includesa plurality of scissor stages which include pairs of crossed scissorlinks. The lower side of a first scissor stage is coupled to the linkdrive mechanism. The upper side of the first scissor state is coupled tothe lower side of the second scissor stage. Thus the scissor stages arelinked. The upper scissor stage is coupled to the robot head. In anexemplary embodiment the scissor mechanism includes five scissor stages.In a preferred embodiment each scissor stage includes three pairs ofscissor links such that the scissor mechanism defines a triangular prismshape. The use of a scissor mechanism enables the camera robot to varyin height from a very compact storage configuration to a very tallconfiguration whereby the camera axis can have height that is close tothat of a subject's eyes. The triangular prism (three pairs of scissorlinks per stage) provides a mechanically stable configuration withminimized complexity. The scissor mechanism can be covered with astretchable fabric to ensure smooth operation and safety of users bypreventing users from putting objects or hands in the mechanism.

In yet another implementation the non-transient medium storesinstructions that when executed by the processor perform a methodincluding: (1) learning an image element physically carried with a userof the camera robot, (2) storing a desired distance range, (3) searchingan image frame captured by the camera for the image element, (4) if theimage element is found, then measuring and estimating a distance betweenthe camera and the image element, and (5) activating the transportmechanism to move the robot laterally along the support surface untilthe camera is positioned within the desired distance range from theimage element. The image element can be one or more of: an image of anarticle of clothing of the user, an image of the user's face, ageometric attribute of the user, an icon carried by the user, or amachine-readable code carried by the user. Examples of machine-readablecodes include two-dimensional barcodes and QR codes.

In a yet further implementation the non-transient medium storesinstructions that when executed by the processor perform a methodincluding: (1) learning an image element physically carried with a userof the camera robot, (2) storing a desired distance range, (3) searchingan image frame captured by the camera for the image element, (4) if theimage element is not found, then transmitting a message from the camerarobot to a mobile device held by the user. The message may includeinstructions for the user to walk within view of the camera robot'scamera.

In another implementation the non-transient medium stores instructionsthat when executed by the processor perform a method including: (1)learning an image element physically carried with a user of the camerarobot, (2) storing a desired distance range, (3) searching an imageframe captured by the camera for the image element, (4) if the imageelement is found then determining an orientation of the image element.If the orientation is within a certain predetermined range, then themethod includes activating a photo session. The photo session caninclude one or more of: activating the transport mechanism, camera zoom,and/or camera orientation to properly frame a subject, activating thevertical positioning mechanism to move the camera axis CA closer tobeing in at the same vertical height as a subject's eyes, providingaudible and/or visual instructions to the subject, and capturing one ormore image frames and possibly audio. The subject can be the user, asubject associated with the user, or a group of subjects.

In yet another implementation, the camera robot may continue to maintaina set distance to the image element during the photo session, forexample, to record image frames (video) of a user walking through avenue.

In a further implementation, the non-transient medium storesinstructions that when executed by the processor perform the methodincluding: (1) starting a photo session with a user of the camera robot,(2) capturing an image of the user, (3) storing a desired distancerange, (4) searching one or more image frames for the user based uponthe stored image, and (5) if the user is not found, then transmitting amessage from the camera robot to a mobile device held by the user. Themethod also includes: when the user is found, then estimating a distancebetween the camera robot and the user and activating the transportmechanism until the camera robot is positioned at the desired distancerange from the user. The image of the user may include the user's faceand facial recognition may be utilized to identify the user within animage frame. The method can include providing a link to allow the userto pay for the use of the camera robot.

In another aspect of the invention a robotic camera system includes arobot cloud server that is coupled to a plurality of camera robots atvarious physical locations through a cloud network such as the Internet.Also coupled to the Internet are third-party servers that serve upsocial media websites and application interfaces. Also coupled to theInternet is a mobile device carried by a user desiring to use aparticular camera robot. Each of the robots have identifying marks orfeatures that either separately or together with location and timemetadata, uniquely identify the robots. The cloud server has a databasethat stores directory information that uniquely identifies each robotand a communication address which may include an Internet Protocoladdress (IP address) for separately communicating with each robot. Thusthe database correlates the identifying marks or features of each robotwith that robot's communication address. The robot cloud server and thecamera robot each have a processor coupled to a non-transient storagemedium. The non-transient storage media store instructions that whenexecuted by one of the processors perform a method. The method may beperformed by the robot could server, the camera robot, or both incombination.

In one implementation the method includes the following steps: (1)receiving an image of the camera robot that has been captured by theuser's mobile device, (2) receiving metadata originating from the user'smobile device including location data for the captured image of thecamera robot, (3) processing the image of the camera robot and themetadata to identify a particular one of the plurality of camera robots,and (4) sending an authorization signal to the particular camera robotto initiate a photo session or enable the user to utilize the camerarobot.

In another implementation the user captures an image of a particularcamera robot using the user's mobile device. The captured image includesmetadata including location and timestamp information. The user thenposts the image to a social media website hosted by one of thethird-party servers along with a designated hashtag. The designatedhashtag is one that is stored (known) by the robot cloud server. Therobotic camera system then executes the following method: (1) The robotcloud server scrapes the social media website and detects the capturedimage associated with the designated hashtag. (2) The robot cloud serveranalyzes the image to uniquely identify the particular camera robot. (3)The robot cloud server then sends a message and/or authorizationinformation to the particular camera robot to activate a photo sessionor to enable the user to utilize the robot. (4) The camera robotperforms a photo session for the user. (5) The camera robot transfersimage frames captured during the photo session to the robot cloudserver. (6) The robot cloud server transfers the image frames to thethird-party server hosting the social media website and applicationinterface. The user can then access the image frames from the socialmedia website or application interface. In one embodiment the robotcloud server also sends a unique two-dimensional code to the user thatallows the user to take control of the robot. The unique two-dimensionalcode can be an icon, a two-dimensional barcode, or a QR code to namesome examples.

In yet another implementation the user's mobile device includes a“designated application” that serves as an application interface to therobot cloud server. The designated application thereby serves as a partof the robotic camera system. The user captures an image of a particularcamera robot using the user's mobile device. The captured image includesmetadata including location and timestamp information. Then the roboticcamera system performs the following method: (1) The designatedapplication receives the image and the metadata. (2) The designatedapplication transfers the image and metadata to the robot cloud server.(3) The robot cloud server analyzes the image to uniquely identify theparticular camera robot. (4) The robot cloud server then sends a messageand/or authorization information to the particular camera robot toactivate a photo session or to enable the user to utilize the robot. (5)The camera robot performs a photo session for the user. (6) The camerarobot transfers image frames captured during the photo session to therobot cloud server. (7) The robot cloud server then transfers the imageframes to the designated application on the user's mobile device. (8)The designated application makes the image frames available to the user.In one embodiment the robot cloud server also sends a uniquetwo-dimensional code to the user that allows the user to take control ofthe robot. The unique two-dimensional code can be an icon, atwo-dimensional barcode, or a QR code to name some examples.

In a further implementation the robot camera system includes multiplerobots at different positions framing the same subjects, workingtogether to capture photos and videos from different angles. One examplemight be 2-3 camera robots collaborating to synchronously capture ascene, where 1-2 robots might capture close-up shots and a 3rd mightcapture a wider shot of the scene. The photos can be made into a photomontage, or video can be edited like a television show. In anotherembodiment, synchronized video and position information from each of therobots can be processed to extract 3D shape, and subjects can bedigitally placed in another scene, by matching positions from the realworld. The basic workflow from one robot can translate to multiplerobots looking at the same targets. 3D reconstruction is possible fromposition and velocity of robot and camera orientation informationsynchronized with video.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

This description concerns a robot-based or robotic camera system whichincludes a camera robot. In use the camera robot is typically placedupon a support surface which can be a floor or walkway. In thedisclosure various geometric terms such as vertical, lateral, normal,and horizontal are used. Vertical generally means aligned with agravitational reference. Horizontal is perpendicular to vertical.Lateral generally refers to a direction along the support surface andthe normal direction is perpendicular to the support surface (or atleast the portion of the support surface upon which the robot rests).Mutually orthogonal geometric axes X, Y, and Z are also used. These axesrefer to directions that are internal to a camera robot. In some casesthe Z axis may be aligned with the vertical (gravitational) axis. But ifthe robot is placed upon a sloping support surface then Z may not beexactly vertical. The axes X and Y can be horizontal, lateral or someother direction that is normal to Z. Typically if Z is not aligned withthe vertical, it defines an acute angle with vertical.

FIGS. 1A and 1B depict an exemplary robotic camera system 2. Roboticcamera system 2 has both consumer and commercial uses. Robotic camerasystem 2 may be used in various venues including consumer homes, themeparks, zoos, historical sites, landmark viewing areas, factories, andretail sales location to name a few examples.

Robotic camera system 2 includes a camera robot 4 that is in wirelesscommunication with various devices either directly or through a cloudnetwork 6. Camera robot 4 includes a base 8 that is in contact with asupport surface S. The base 8 provides a function of providing stabilityand lateral transport for camera robot 4. In an exemplary embodiment thetransport is provided by omni-directional wheels (shown in laterdrawings).

Camera robot 4 includes a robot head 10 that includes a camera 12 andmay include user interface features 14. The camera 12 is one or morecameras that includes one or more of an SLR or mirrorless camera, a 360degree camera system, or a 3D (three-dimensional) camera system. Theuser interface features are shown as mounted to the robot head 10 but itis to be understood that they may be mounted to other portions of camerarobot 4.

Camera robot 4 includes a vertical positioning mechanism 16 that couplesthe robot head 10 to the base 8. Vertical positioning mechanism 16 ismechanized to enable automated or semi-automated control of the verticalposition H of camera 18 relative to the support surface S. The verticalpositioning mechanism 16 can take on a number of forms such astelescoping cylinders, rack and pinion systems, and lead screw-drivensystems to name a few examples. In an exemplary embodiment verticalpositioning mechanism includes a scissor link based mechanism.

FIG. 1A depicts mutually perpendicular axes X, Y, and Z. Generallyspeaking, the axis Z is a central axis of camera robot 4 and woulddefine roughly the central axis of vertical positioning mechanism 16. Ifaxis Z is aligned with a vertical gravitational reference then axes Xand Y would be horizontal. Axis X is perpendicular to a camera axis CAof camera 12. Axis Y can be parallel to the camera axis CA unless camera12 is tilted about axis X. If the camera is tilted about axis X then thecamera axis CA will extend along axes Y and Z. Axis Z is central to thevertical positioning mechanism 16 and can coincide with a gravitationalreference. If base 14 is positioned upon a sloping and/or curved supportsurface S, then axes X and Y may not be horizontal and axis Z may not bevertical.

FIG. 1B is a block diagram representation of robotic camera system 2from the standpoint of data processing and data storage. Camera robot 4includes a robot computer 18 that is coupled to a user mobile device 20,a robot cloud server 22, and third-party cloud servers 24 through cloudnetwork 6 (i.e., the Internet). The robot computer 18 may alsocommunicate directly with user mobile device 20. The connections of therobot computer with cloud network 6 and user mobile device 20 arewireless and may utilize a standard protocol such as IEEE 802.11X orBluetooth, to name two examples.

The user mobile device 20 can be a laptop computer, a smartphone, a PDA(personal digital assistant), a tablet computer, or any other mobilecomputer carried by a user. The user mobile device 20 may run a“designated application” that specifically facilitates interaction withthe robot computer 18 and the robot cloud server 22. The robot cloudserver 22 is a server that is dedicated to a system of camera robots 4for facilitating interactions between user mobile devices 20 and camerarobots 4. The third-party servers 24 are servers that serve web pagesincluding social media websites and application interfaces. Such webpages are accessible with user mobile device 20.

The robot computer has processor or controller 28 that is coupled to anon-transient storage medium 30 and a network interface 32. Thenon-transient storage medium 30 stores computer-readable instructionsthat, when executed by processor 28, perform various methods. Thevarious methods performed can include methods as those to be discussedwith respect to FIGS. 5, 6A, 6B, 7, 8, and 9. Non-transient storagemedium 30 can include one or more of a hard drive, a optical drive, aflash memory drive, or other non-volatile storage devices. The networkinterface 32 includes hardware that facilitates communication betweenprocessor 28 and devices on the cloud network 6 and with user mobiledevice 20.

FIGS. 2A-2C are different views of an exemplary embodiment of camerarobot 4. FIG. 2A is an isometric view. Base 8 includes a transportmechanism 34 including omni-directional wheels 36. Omni-directionalwheels 36 can be controllably rotated to impart motion of base 8 acrosssupport surface S generally along axes X and Y. Wheels 36 an also enablerotation of robot 4 about central axis Z. Base 8 also includes speakers38 for communicating with a user and/or a photographic subject.

Vertical positioning mechanism 16 includes a scissor mechanism 40. Inthe illustrated embodiment scissor mechanism 40 is a triangular scissormechanism that advantageously exhibits superior strength with the leastcomplexity for the disclosed application. Scissor mechanism includes aplurality of interconnected scissor links 42 that are coupled to a linkdrive mechanism 44. The link drive mechanism 44 controllably causespairs of scissor links 42 to rotate relative to one another. As eachscissor link rotates to become more nearly vertical, the distance Hincreases (see FIG. 2B). As each scissor link rotates to become morehorizontal, the height H decreases.

Robot head 10 supports cameras 12. In the illustrated embodiment thereare two cameras 12 that are separated along the axis X to provide 3Dimages. Also, cameras 12 can provide a 360 degree panoramic image.

FIG. 2B is a front view of camera robot 4. The distance H is moreclearly illustrated as the vertical distance between support surface Sand a camera axis for each camera 12. Also illustrated is a distance hwhich between robot head 10 and base 8 which is defined by the scissormechanism 40. In a first exemplary embodiment the scissor mechanism 40can vary the distance h between the base 8 and the robot head 10 by afactor of at least two. In a second exemplary embodiment the scissormechanism 40 can vary the distance h between the base 8 and the robothead 10 by a factor of at least three. In a third exemplary embodimentthe scissor mechanism 40 can vary the distance h between the base 8 andthe robot head 10 by a factor of at least four. In a fourth exemplaryembodiment the scissor mechanism 40 can vary the distance h by a factorof at least five. In a fifth exemplary embodiment the scissor mechanism40 can vary the distance h by a factor of at least seven. In a sixthexemplary embodiment the scissor mechanism 40 can vary the distance h bya factor of at least ten.

FIG. 2C is a side view of camera robot 4. As can be seen, scissormechanism 40 has five scissor stages 46. In FIG. 2C, each scissor stageappears in this view to be defined by a pair of scissor links 42.However, each scissor stage 46 is defined by six scissor links 42 sincescissor mechanism 40 defines a triangular prism as is apparent fromFIGS. 2A and 2B. FIG. 2C also illustrates cameras 12 as facing in both+Y (front-facing) and −Y (rear-facing) directions to enable the 360panoramic image capture.

FIGS. 3A-3D illustrate four exemplary embodiments of robot head 10. Inthe embodiments that follow, the robot head includes a plurality ofcameras 12. The cameras 12 individually capture different fields. Insome embodiments, the different fields are overlapping to providestereoscopic or three-dimensional information. In other embodiments, thedifferent fields have non-overlapping portions to provide an expandedfield of view as compared to one camera.

FIG. 3A is an isometric drawing depicting a first embodiment of robothead 10 from FIGS. 2A-C. Depicted robot head 10 has four cameras 12including two camera pairs 48. Each camera pair 48 includes a forward(+Y) and a backward (−Y) facing camera 12 to facilitate a 360 degreeimage capture. Also, the camera pairs 48 are separated from each otheralong axis X to enable three-dimensional (3D) stereoscopic imageinformation to be captured.

FIG. 3B is an isometric drawing depicting a second embodiment of robothead 10. Depicted robot head 10 has four cameras 12 including two camerapairs 48. Each camera pair 48 includes a forward (+Y) and a backward(−Y) facing camera 12 to facilitate a 360 degree image capture. Thecamera pairs 48 are separated from each other along Z to enablethree-dimensional stereoscopic image information to be captured.

FIG. 3C is an isometric drawing depicting a third embodiment of robothead 10. Depicted robot head 10 has six cameras 12 including threecamera pairs 50. Each camera pair 50 is separated laterally (along X andY) along a side of a polygonal portion 52 of robot head 10. Thus thereare three sides of portion 52 of robot head 10 that each support acamera pair 50. Relative to the designs depicted in FIGS. 3A and 3B thisrobot head 10 can capture 360 degree image information in higherresolution. Also, the lateral separation between the cameras 12 of eachcamera pair 50 provides the three-dimensional stereoscopic imageinformation to be captured.

FIG. 3D is an isometric drawing of a fourth embodiment of robot head 10.This robot head includes a camera pair 48 that is similar to one of thecamera pairs 48 depicted with respect to FIG. 3A. In addition, thisrobot head 10 includes an SLR camera 54 for capturing very high qualitytwo-dimensional images. This embodiment can include a mechanism(internal as part of robot head 10) that enables camera 54 to becontrollably rotated about axes X (pitch), Y (roll), and Z (pan). In thefigures that follow FIG. 3D, it is to be understood that element 12 isgeneric for any camera 12 including an SLR camera 54.

Yet other embodiments of robot head 10 are possible. For example, theSLR camera 54 of FIG. 3D could be combined with any of the camerasdepicted with respect to FIG. 3A, FIG. 3B, or FIG. 3C. Also, more thanone SLR camera 54 or mirrorless camera might be utilized in someembodiments of robot head 10 to provide high quality 3D image data.

Any exemplary embodiment of robot head 10 can include user interfacefeatures 14 (FIG. 1) such as a flat panel touch display 58 as depictedin various figures including FIGS. 2A, 2B, and 3A-C. Touch display 58enables user inputs and displays information or graphics. In someembodiments touch display 58 can display previews of captured images andvideos for a user.

FIG. 4 is a simplified electrical block diagram for an exemplary robot10. Where applicable, element numbers in the electrical block diagram ofFIG. 4 will correspond to element numbers in prior diagrams. As anexample, the electrical block representing head 10 in FIG. 4 correspondsto the physical head 10 illustrated in FIGS. 2A-C and 3A-D.

Robot 10 has a control system 60 that is disclosed as an exemplarysystem of a high level robot computer, a low level computer,controllers, interface devices, and other devices that control thecomponents of camera robot 10 to provide transport along support surfaceS, rotation along various axes, and internal control of individualcomponents. Control system 60 includes but is not necessarily limited torobot computer 18, low level computer 62, and USB hub 64.

Robot computer 18 is coupled to (wireless) network interface 32. Networkinterface 32 allows the robot computer 18 to communicate either directlywith client devices (such user mobile device 20) or indirectly through acloud network 6 (see FIGS. 1A and 1B). Robot computer 18 is also coupledto low level computer 62 through which it can control lateral motionalong support surface S, a vertical height adjustment of robot head 10,and track proximity to surrounding objects. Low level computer 62 iscoupled to omni-directional wheel motors and encoders 36 for controllingand tracking motion of robot 4 along support surface S. Low levelcomputer 62 is coupled to vertical positioning mechanism lift motor andencoder 44 for controlling and tracking the height h of robot head 10above base 8 (and therefore the height H of the camera axis abovesupport surface S). Low level computer 62 receives inputs from proximitysensors 66 to track the proximity of robot 4 to surrounding objects.

Through the USB hub 64 the robot computer 18 is coupled to cameras 12,human interface 14, and other head-mounted features. Robot computer 18can thereby control camera functions (of camera 12) and receive imagesfrom the cameras 12. Cameras 12 may also include a microphone and audiosignals may be sent to robot computer 18. Robot computer 18 can alsocommunicate with a user with the human interface device 14 which caninclude a touch display 58. Robot computer 18 may also communicate to auser via speakers 38.

In an alternative embodiment the camera 12 is wirelessly coupled torobot computer 18. In another alternative embodiment the (wireless)network interface 32 can be directly coupled to USB hub 64. As can beseen, various embodiments are possible for coupling components androuting information.

The camera 12, robot computer 18, and possibly other devicescollectively define an image processing system. The image processingsystem includes hardware and software for processing an image receivedby camera 12. As such, it can reside individually in camera 12,individually in robot computer 18, individually in mobile device 20,individually in some other device (not shown), or collectively in morethan one of devices 12, 18, and 20. The image processing system cananalyze images that are received by camera 12 to recognize eyes, faces,and/or other features of subjects (human and/or animal) to bephotographed. The image processing system can also recognize and processmachine-readable codes and images of a user or a camera robot 4. Theimage processing system can also analyze orientation, location, and/ormotion of various features or images received by camera 12.

FIG. 5 is a flow chart depicting an exemplary method 70 by which a usercan utilize a camera robot 4. Method 70 can be referred to as a “digitalleash” method whereby an image processing system of camera robot 4maintains a specified distance from a user as that user walks from onelocation to another.

According to step 72 a required distance range is provided to robotcomputer 18 that specifies a distance range between the user and camerarobot 4. According to step 74, image element information is provided torobot computer 18. The image element is any object that the camera robot4 will track to identify the user and to compute a distance between theuser and the camera robot 4. In one embodiment the image element can bea machine-readable code carried by the user. In another embodiment theimage element can be an image (partial or complete) of the user.

According to step 76 the image processing system searches an image framecaptured by camera 12 for the image element which leads to decision step78. If the image element is not found then the robot computer 18 sendsan alert to the user's mobile device 20 that indicates that the camerarobot 4 has “lost” the user according to step 80. The user can then walkback toward the camera robot 4 and the camera robot 4 can continuesearching for the image element.

If the image element is detected then the image processing systemanalyzes the image element to compute or estimate a lateral distance andheading from the camera robot 4 to the user according to step 82. Aspart of step 82, the robot computer compares the computed lateraldistance to the desired distance range (from step 72). Based upon thecomparison the robot computer activates the transport mechanism 34 tomove the robot laterally along the support surface S so that thecomputed lateral distance will be closer to the midpoint of the desireddistance range. After step 84 the process loops back to step 76.

In one embodiment, step 74 includes a photo session which includes thefollowing steps: (1) The user initiates a photo session with the robotcamera 4. (2) The robot camera captures an image of the user. In someembodiments, the robot camera 4 instructs the user to stand at differentorientations relative to the camera robot 4 which results in differentimages having different orientations of the user. During step 76, thecamera robot 4 then searches for the different orientations. This allowsthe camera robot 4 to find the user even if the user's back is orientedtoward the camera robot 4.

FIG. 6A is simplified flowchart depicting an embodiment of a method 90by which a user can use a camera robot 4 at a venue in which the user iswalking around and desiring to have photos and videos captured. Withthis method the user visibly carries an object with a two-dimensionalmachine-readable code (2D code element) thereon. This two-dimensionalmachine-readable code can be a two-dimensional barcode, a QR code, avariable icon, a variable symbol, or another two-dimensional image thatcan be read by machine. In one embodiment the 2D code element isgenerated by a display on the user's mobile device 20.

According to step 92 the image processing system (camera 12 and robotcomputer 18) scans an image frame to search for the 2D code element. Ifthe 2D code element is not found then the camera robot 4 determineswhether it has been more than a predetermined time T since the 2D codeelement was last detected according to step 94. If not then the processloops back to step 92. If the step 94 is true (yes) then the camerarobot 4 holds its position and sends a message to the user's mobiledevice 20 that tells the user to display the 2D code to the robotaccording to step 96. Then the process loops back to step 92.

If according to step 92 the 2D code element is detected then the imageprocessing system calculates the relative position and orientation ofthe 2D code element according to step 98. Robot computer 18 storesinformation that defines two different orientation ranges. A firstorientation range is defined as “approximately horizontal.” A secondorientation range is defined as “approximately vertical.” According tostep 100 a determination is made as to which orientation range the 2Dcode element is within. If the 2D code element is approximatelyhorizontal then the process proceeds to step 102. According to step 102the robot computer activates the transport mechanism 34 to move thecamera robot 4 to within a specified distance frame from the 2D codeelement.

According to step 100—if the 2D code element is approximately verticalthen the process proceeds to step 104. According to step 104 the camerarobot 4 performs a photo session. According to step 104 the imageprocessing system activates the transport mechanism 34 and the verticalpositioning mechanism 16 to properly frame the user in an image frame ofcamera 12. This includes utilizing the vertical positioning mechanism tomove the camera axis CA to as close to the user's eye level as possible.The image processing system focuses camera 12 on the user and thencaptures one or more image frames and possibly audio.

In some embodiments step 104 includes properly aligning the camera 12image frame upon a group of photo subjects including the user. Thevertical positioning mechanism can move the camera axis CA to a heightthat is within a range of eye levels of the photo subjects.

In other embodiments step 104 may also include step 102 such that thecamera robot 4 maintains a specified distance from the 2D code elementduring the photo session. For example, a user may desire to have imageframes (video) recorded of themselves or subjects associated with theuser while walking through a venue.

FIG. 6B is a flowchart of a method 110 that is similar to that of FIG.6A except that the image processing system utilizes a user image.According to step 112 the image processing system (camera 12 and robotcomputer 18) search an image frame for a 2D barcode element held by auser. This process repeats until the 2D barcode element is detected.Once it is detected the process proceeds to step 114.

According to step 114, the image processing system “learns” an image ofthe user. Step 114 is carried out by capturing an image of the user andthen characterizing certain attributes. This can include analyzingcolors or patterns of the user's clothing or geometric aspects of theuser.

According to step 116, the image processing system scans an image frame.The image is processed to determine if the user is detected. If the useris not detected then the process proceeds to step 118.

According to step 118 the robot computer 18 determines whether more thana specified time period T has passed since the user has been detected.If not, then step 116 is repeated. However, if the time T has passedthen the process proceeds to step 120. According to step 120 the robotcomputer 18 sends a message to the user's mobile device 20 that tellsthe user to stand in front of the robot computer 18. Then the processloops back to step 116.

If according to step 116 the user is detected then the process proceedsto step 120. According to step 120 the image processing systemdetermines a position and orientation of the user. This can includeestimating a distance between the user and the robot 4.

According to step 122 the image processing system determines whether theuser is “making a gesture.” This can take on more than one form. Oneexample might include the user displaying the 2D code element in aparticular orientation. Another example might be the user waving herhands back and forth. If the user does not detect a gesture then theprocess proceeds to step 124.

According to step 124 the robot computer 18 activates transportmechanism 34 to move the robot to within a specified distance of theuser. This may include changing a camera axis CA orientation or heightrelative to the user. Then the process loops back to step 116.

If according to step 122 the image processing system detects a usergesture, then the process proceeds to step 126. According to step 126the robot system performs a photo session. This step is similar or thesame as step 104 of FIG. 6A.

FIG. 7 is a flowchart depicting a first exemplary method 130 whereby auser is able to initiate a photo session with a camera robot 4.According to the method 130, there is a system whereby a plurality ofcamera robots 4 are under the control of a robot cloud server 22 (FIG.1B).

According to 132, the cloud server 22 stores identity information for aplurality of camera robots 4. The camera robots 4 can be distributedgeographically and can be large in number.

According to step 134, the cloud server 22 receives an image of a camerarobot 4 originating from a user's mobile device 20. According to step136 the cloud server 22 receives metadata originating from the user'smobile device 20 that includes location data and may include othermetadata that is indicative of a particular camera robot 4.

According to step 138 the cloud server 22 processes the camera robotimage and metadata from steps 134 and 136 to uniquely identify thecamera robot 4 that the user desires to use. According to step 140, thecloud server 22 sends an authorization signal to the particular camerarobot 4 so that the user can utilize the camera robot 4 according tostep 142. In the process of utilizing the camera robot 4 the user mayperform any of methods 70, 90, or 110 depicted in FIGS. 5, 6A, and 6Brespectively.

FIG. 8 is a flowchart depicting a second exemplary method 150 by which auser can initiate a photo session with a camera robot 4. According tothis method a robot cloud server 22 is in communication with a pluralityof camera robots 4 (see FIG. 1B). The cloud server stores informationthat uniquely identifies each of the camera robots 4. The cloud server22 also stores a “designated hashtag” that is indicative of the roboticcamera system.

According to step 152 a user captures an image of a camera robot 4 usingthe user's mobile device 20. The image capture includes embeddedmetadata including a timestamp and location data.

According to step 154 the user posts the photo of the camera robot 4with the embedded metadata to a social media website hosted by athird-party cloud server 24 along with the designated hashtag. Accordingto step 156 the robot cloud server 22 scrapes the social media websitefor the designated hashtag. Scraping is essentially a method of “webharvesting” or web data extraction. Upon detecting the hashtag, therobot cloud server 22 then identifies the image from the user's mobiledevice 20.

According to step 158 the robot cloud server 22 analyzes the image andassociated metadata to uniquely identify the camera robot 4. The imagemay contain markings on the robot (such as a 2D barcode, QR code, orother features). Also, the location and time metadata may be associatedwith certain camera robot identifications in a database of the robotcloud server 4.

According to step 160, the robot cloud server sends an authorizationcommand to the identified camera robot to begin a photo session with theuser. In response, the robot begins a photo session with the useraccording to step 162. The photo session may be similar to thatdescribed with respect to element 104 of FIG. 6A. During the photosession the camera robot 4 captures images of the user and/or othersubjects associated with the user.

According to step 164, the camera robot 4 transfers the captured imageframes to the robot cloud server 22. According to step 166 the robotcloud server 22 transfers the captured image frames to the third-partyserver 24 of the social media website, whereby the user then has accessto the captured images.

In an optional step 168, the robot cloud server sends the user a unique2D machine-readable code element. The user can then use this 2D codeelement to utilize the camera robot 4 according to any or all of method70 (FIG. 5), method 90 (FIG. 6A), and method 110 (FIG. 6B). Thisincludes utilizing a “digital leash” to have the camera robot 4 followthe user and perform more photo sessions.

In other embodiments the robotic camera system 2 verifies that the photosession is taking place with the user who posted the photo of the camerarobot 4. In a first of these embodiments, the cloud server 22 stores an“expiration time differential.” As stated earlier, the posted photoincludes timestamp data for the time of image capture of camera robot 4.As part of step 158, the cloud server 22 computes a time differentialbetween the time of step 158 from the timestamp from the photo metadata.If the time differential exceeds the expiration time differential thenthe process halts and does not proceed to step 160. Otherwise theprocess proceeds to step 160.

In another embodiment the user includes some self-identifyinginformation as part of step 154. This may include an image of the useror an article that the user is carrying. As part of step 158 the cloudserver 22 compares the self-identifying information with an image of theuser. If the comparison indicates a match, the process proceeds to step160. Otherwise the process halts.

In yet another embodiment the camera robot 4 displays continuouslychanging identification codes on touch display 58 that each have anexpiration time. One such displayed code at a capture time is capturedby the user's mobile device 20 as part of step 152. According to step158 the cloud server 22 uses the code to identify the camera robot 4. Ifthe expiration threshold for the code has not yet been reached, then theprocess proceeds to step 160. Otherwise the process halts.

In a further embodiment the robotic camera system 2 verifies that theuser has an account with the social media website that corresponds tothe posted photo and metadata. This can be done by having the robotcapture an image of the user or other data at the beginning of the photosession to compare that image or other data with data received from thesocial media website.

FIG. 9 is a flowchart depicting a third exemplary method 170 by which auser can initiate a photo session with a camera robot 4. According tothis method a robot cloud server 22 is in communication with a pluralityof camera robots 4 (see FIG. 1B). The cloud server stores informationthat uniquely identifies each of the camera robots 4. Also according tothis method the user has a mobile device 20 with an application forcommunicating with the robot cloud server 22.

According to step 172 the user captures an image of a camera robot 4with the application which is stored on the user's mobile device 20. Thestored image also includes embedded metadata including a timestamp andlocation for the image capture.

According to step 174 the user utilizes the mobile device to transferthe captured image to the robot cloud server 22. According to step 176the robot cloud server analyzes the captured image and metadata touniquely identify the camera robot 4.

According to step 178 the robot cloud server 22 sends an authorizationcommand to the camera robot 4 to begin a photo session with the user. Inresponse, the robot begins a photo session with the user according tostep 180. The photo session may be similar to that described withrespect to element 104 of FIG. 6A. During the photo session the camerarobot 4 captures images of the user and/or other subjects associatedwith the user.

According to step 182, the camera robot 4 transfers captured images fromthe photo session to the robot cloud server 22. According to step 184the robot cloud server 22 then transfers the images to the user's mobiledevice 20 via the application. Alternatively, the camera robot 4 couldtransfer the captured images directly to the user's mobile device 20 viathe application.

In an optional step 186, the robot cloud server sends the user a unique2D machine-readable code element. The user can then use this 2D codeelement to utilize the camera robot 4 according to any or all of method70 (FIG. 5), method 90 (FIG. 6A), and method 110 (FIG. 6B). Thisincludes utilizing a “digital leash” to have the camera robot 4 followthe user and perform more photo sessions.

The specific embodiments and applications thereof described above arefor illustrative purposes only and do not preclude modifications andvariations encompassed by the scope of the following claims.

What we claim is:
 1. A camera robot for capturing image framescomprising: a base having a transport mechanism that controllablyimparts motion and positions the robot along a support surface; a robothead; a camera mounted to the robot head; a vertical positioningmechanism that couples the robot head to the base, the verticalpositioning mechanism controllably adjusts a vertical distance betweenthe robot head and the support surface; a controller configured tocontrol: image capture of the camera; the transport mechanism to therebydetermine lateral positioning and rotation about a vertical axis; andthe vertical positioning mechanism to thereby determine a distancebetween the robot head and the base; wherein the vertical positioningmechanism includes a scissor mechanism including a plurality ofconnected scissor links coupled to a link drive mechanism, wherein thelink drive mechanism controllably causes scissor links of said pluralityof connected scissor links to rotate relative to one another, andwherein a relative angular rotation of the scissor links determines thevertical distance between the robot head and the base.
 2. The camerarobot of claim 1 wherein the camera includes a plurality of cameras thatindividually capture different fields.
 3. The camera robot of claim 2wherein the different fields are overlapping and can be combined toprovide stereoscopic information.
 4. The camera robot of claim 2 whereinthe different fields have non-overlapping portions in order to expand afield of view.
 5. The camera robot of claim 4 wherein the differentfields provide a 360 degree panoramic image capture.
 6. The camera robotof claim 2 wherein the plurality of cameras includes two camerasincluding a forward facing and a backward facing camera.
 7. The camerarobot of claim 1 wherein the vertical positioning mechanism can vary thedistance between the base and the robot head by a factor of at leasttwo.
 8. The robot of claim 1 wherein the vertical positioning mechanismcan vary the distance between the base and the robot head by a factor ofat least five.
 9. The robot of claim 1 wherein the base includes threeomni-directional wheels to provide the lateral positioning and therotation about a vertical axis.
 10. The robot of claim 1 wherein thecontroller is responsive to a request to initiate a photo session, therequest originates from one or more of (1) a wireless command from amobile device, (2) an input to a user interface attached to the robot,(3) an input to a touchscreen attached to the robot, (4) a signal fromthe camera, and (5) a gesture from the user as viewed from the cameraand processed by the controller.
 11. A camera robot for capturing imageframes during a photo session in response to a request initiated by auser comprising: a base having a transport mechanism; a robot head; acamera mounted to the robot head; and a controller including a processorand a non-transient medium storing computer-readable instructions thatwhen executed by the processor perform a method including: receiving arequest from the user for a photo session; operating the transportmechanism to make a lateral adjustment with respect to a support surfaceand operate the vertical positioning apparatus to adjust a verticalposition of the robot head in relation to the base, to frame the user inan image frame of the camera; determining a position and orientation ofthe user, said determining comprising estimating a distance between saiduser and said camera robot; moving the camera robot to within aspecified distance of the user; and operating the camera to capture animage of the user.
 12. The robot camera of claim 11 wherein the requestis received from one or more of (1) a wireless command from a mobiledevice, (2) an input to a user interface attached to the robot, (3) aninput to a touchscreen attached to the robot, (4) an image captured bythe camera, and (5) a gesture from the subject that is captured by thecamera and processed by the controller.
 13. The robot camera of claim 11wherein the lateral adjustment includes one or more of a laterallocation of the base and an orientation about a vertical axis.
 14. Therobot camera of claim 11 wherein the camera includes a plurality ofcameras that individually capture different fields.
 15. The robot cameraof claim 14 wherein the fields are have overlapping portions to providethree-dimensional information.
 16. The robot camera of claim 14 whereinthe fields are have non-overlapping portions to expand a field of viewbeyond what one camera can provide.
 17. A method of providing aproviding images to a user of a subject comprising: providing a camerarobot including: a base having a transport mechanism; a robot head; acamera mounted to the robot head; and a vertical positioning mechanismthat couples the robot head to the base, the vertical positioningmechanism controllably adjusts a vertical distance between the robothead and the support surface, wherein the vertical positioning mechanismincludes a scissor mechanism including a plurality of connected scissorlinks coupled to a link drive mechanism, wherein the link drivemechanism controllably causes scissor links of said plurality ofconnected scissor links to rotate relative to one another, and wherein arelative angular rotation of the scissor links determines the verticaldistance between the robot head and the base; receiving a request for aphoto session from the user; operating the transport mechanism tolaterally position the camera robot relative to a subject; operating thevertical positioning apparatus to adjust a vertical position of therobot head in relation to the base; and operating the camera to capturean image of the subject, the image includes one or more images thatdefine one or more of a still frame and a video sequence of images. 18.The method of claim 17 wherein the camera includes a plurality ofcameras and the image includes a plurality of images from differentfields, the method further includes combining the fields to provide oneor more of an expanded field and three-dimensional information.
 19. Themethod of claim 17 further comprising transferring the image to one ormore of a cloud server, a social media platform, and a mobile device.